Horizon Detection in Foggy Aerial Image

摘要：

Vision-based automatically landing is important for micro Unmanned Aerial Vehicles (UAVs). Horizon is a very useful clue. Most of the existing solutions for the problem can get accurate results in clear weather. However, for some images shoot in extreme environmental conditions like foggy or cloudy sky these methods are difficult in identifying the horizon correctly. In this paper, we propose a robust, vision-based horizon detection algorithm fit for this condition. The algorithm we put forward is based on a dark channel prior, which describes the depth of haze naturally. The horizon can be easily determined in dark channel property space. We then verify our vision-based horizon detection algorithM with real flying data. The results indicate that the algorithm is robust to heavy foggy weather conditions. This algorithm can also be useful in synthetic vision system.

关键词： UAV unmanned aircraft horizon detection foggy image dark channel horizon angle aircraft attitude estimation atmosphere sky ground image processing

作者: Hong-Zhao Yuan Xiu-Qiong Zhang Zi-Liang Feng

作者单位: College of Computer, Sichuan University State Key Laboratory of Fundamental Science on Synthetic Vis College of Computer, Sichuan University State Key Laboratory of Fundamental Science on Synthetic Vis

会议类型: 国际会议

会议名称: 2010 International Conference on Image Analysis and Signal Processing(2010 图像分析与信号处理国际会议 IASP 10)

会议地点: 厦门

会议语种:英文

页码: 191-194

在线出版日期: 2010-04-12（万方平台首次上网日期，不代表论文的发表时间）